CN102799867A - Meter pointer angle identification method based on image processing - Google Patents
Meter pointer angle identification method based on image processing Download PDFInfo
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Abstract
The invention discloses a meter pointer angle identification method based on image processing, belonging to the field of image processing and solving the problem of large frame difference errors when a meter pointer is detected by adopting an absolute angle method. The meter pointer corner identification method comprises the following steps of: 1, acquiring a gray level image of a meter as an original image; 2, preprocessing to obtain a binarization image; 3, obtaining a preliminarily extracted meter panel scale image; 4, carrying out Hough circle transformation and determining a circle center of a meter panel; 5, according to the circle center of the meter panel, carrying out polar coordinate transformation on the original image to obtain a polar coordinate system image; 6, analyzing an angle value scale of the y axis of a polar coordinate system and establishing a scale angle sequence; 7, searching the position of a pointer in the polar coordinate system to obtain a pointer binarization image; and 8, obtaining an angle value of the pointer binarization image towards the y axis under the polar coordinate system according to the scale angle sequence obtained in the step 6, outputting actual data of pointing of the pointer of the meter panel, and finally identifying the angle of the meter pointer.
Description
Technical field
The present invention relates to gauge pointer corner recognition methods, belong to image processing field based on Flame Image Process.
Background technology
Flame Image Process increases in the use in industrial detection field gradually, detects based on the panel board of Flame Image Process and can substitute to a great extent that choosing makes a return journey detects instrument.Instrument detects and mainly refers to the detection that its pointer turns to, and detects under given input signal, and whether the pointed of test instrumentation output is accurate.
The method of the main use absolute angle of gauge pointer detection now; Mainly adopt frame difference method, promptly gather two width of cloth images of the different corners of pointer, subtract each other then; Because have only the position of pointer to change; Can be left only to contain the image of two pointers after subtracting each other, then it handled, calculate the accurate angle of pointed.
Frame difference method existing problems: when each instrument detects, need the strict coordinate information of knowing instrument, being installed of instrument proposed very to requiring; This method is not the original method that the people observes instrument; Be people observed be that whether what scale strictness has pointed to pointer; The scale of some dial plates is changeing the rotation that timing has relative dial plate center, even the pointer absolute angle is accurate, pointer also is not necessarily the strict assigned scale of pointing to; Other pixels except pointer can change in two width of cloth images, and frame difference method all can be found out, and method is unstable sometimes.
The drawback that the method for using direct pointer scale to point to identification can avoid frame difference method to bring.But face following problem: the panel board pictorial element that has is complicated, and the gray level image of extraction can contain various pilot lamp, numeral, other decorative elements, and the identification difficulty of scale is big; The image of gathering can be because the variation of light, camera parameter produces than about-face, and the extraction stability of pointer is not high.
Summary of the invention
The present invention seeks to provides a kind of gauge pointer corner recognition methods based on Flame Image Process in order to solve the big problem of frame difference method error of employing absolute angle method measuring instrument pointer.
Gauge pointer corner recognition methods based on Flame Image Process according to the invention, this method may further comprise the steps:
Step 1, utilize a width of cloth gray level image of industrial camera acquisition instrument, as the original image of instrument;
Step 6, the angle value scale of the panel board of polar coordinate system y axle statement is analyzed, set up scale angle sequence;
The pointer binary image of step 8, the scale angle sequence obtaining step seven that obtains according to step 6 points to the angle value of y axle under polar coordinate system, the True Data of the pointed of output meter dish, and completion is to the identification of gauge pointer corner.
Advantage of the present invention:
1, lower original image requirement reduces system environments, camera, requirement such as be installed.Pretreatment stage allows Hough circle transformation to contain deviation; Allow type appearance of scale connected domain; Allow the unintelligible or color of scale different; Allow dial plate to have eccentric (round), allow the incomplete extraction in scale zone when benchmark extracts the connected domain of primitive threshold value image using to be transformed to Hough.Allow the dial plate center of circle of final extraction to have deviation.Allow final scale to exist minority to fail to extract.Above situation all takes place under the very poor situation of original image picture element, and using this method can not influence final pointed accuracy of identification.The template matches of scale directly significantly improves based on the performances such as method of color.
2, the circle that uses the Hough conversion to extract is benchmark, extracts the connected domain of primitive threshold value image, can get rid of the interference of the class scale zone that circle is interior and circle is outer, utilizes the round characteristic of dial plate to remove non-scale zone., the Hough conversion adopts the method for resolution decreasing when can not extracting the rough calibration circle of dial plate, under low resolution, and just can fine extraction calibration circle.Promote the performance of identification greatly based on the identification meeting of object form.
3, utilize image subtraction behind image thresholdization and the Canny edge extracting in the step 7, can break off being connected of pointer area and non-pointer area, prevent behind the pointer thresholding to link to each other, influence the pointer fitting precision with on every side lamp, numeral etc.Use the weights of pointer match point to strengthen apart from increase, can improve obtaining the pointer fitting precision with departing from the center of circle.
4, algorithm need not all extract the dial plate center of circle and scale angle sequence at every turn, when detecting the different pointed of same table, only need extract dial plate center of circle and scale angle sequence, can save a large amount of Flame Image Process times in early stage like this.
5, overall flow is formed by the higher image processing algorithm of stability: comprise slip threshold method, Canny edge extracting, Hough circle transformation.
6,, got rid of in absolute angle detects because the detection deviation that instrument deflection brings based on the pointed identification of scale.Processing result image is more directly perceived.
Description of drawings
Fig. 1 is the structural representation of the device that relates to of the inventive method;
Fig. 2 is the process flow diagram of the gauge pointer corner recognition methods based on Flame Image Process according to the invention;
Fig. 3 is the process flow diagram of embodiment two;
Fig. 4 is the process flow diagram of embodiment three;
Fig. 5 is the process flow diagram of embodiment four;
Fig. 6 is the process flow diagram of embodiment five;
Fig. 7 is the process flow diagram of embodiment six;
Fig. 8 is an original image, is gray level image;
Fig. 9 is the binary image of original image after with the moving window thresholding;
Figure 10 is the binary image after the unique point restriction;
Figure 11 is that unique point is set;
Figure 12 is the corrosion diagram picture after original image is handled by the 3*3 template;
Figure 13 searches image after the connected domain of Figure 12 in Figure 11;
Figure 14 carries out the image after the Hough circle extracts to Figure 13;
Figure 15 is Figure 14 and Figure 13 superimposed image;
Figure 16 is the connected domain of in Figure 13, searching Figure 14;
Figure 17 is the circle picture after the match;
Figure 18 is an image behind the original image polar coordinate transform;
Figure 19 is a scale region of interest area image;
Figure 20 is the x direction of principal axis pixel curve map of Figure 19 of adding up;
Figure 21 is the difference value curve map of Figure 20;
Figure 22 is that Canny profile extraction back image is carried out in the pointer zone on the original image basis, is the pointer profile that essence is extracted;
Figure 23 is a pointer binary image accurately.
Embodiment
Embodiment one: below in conjunction with Fig. 1 to Figure 23 this embodiment is described, the said gauge pointer corner recognition methods of this embodiment based on Flame Image Process, this method may further comprise the steps:
Step 1, utilize a width of cloth gray level image of industrial camera acquisition instrument, as the original image of instrument; As shown in Figure 8.
Step 6, the angle value scale of the panel board of polar coordinate system y axle statement is analyzed, set up scale angle sequence;
The pointer binary image of step 8, the scale angle sequence obtaining step seven that obtains according to step 6 points to the angle value of y axle under polar coordinate system, the True Data of the pointed of output meter dish, and completion is to the identification of gauge pointer corner.
The panel board center is extracted and is made up of two parts, preextraction and accurately extraction.Having used the restriction of scale unique point in the preextraction, is not the pixel of scale obviously behind the eliminating thresholding, has used Hough circle transformation to obtain approximate location, the parameter of calibration circle.Accurately extract and used radius maximal value and the minimum value that scale is inboard, the round simultaneously fit method in the outside obtains the center of circle and scale.
Utilize the center of circle of extracting to carry out the polar coordinate transform of image, realize that under polar coordinates to the extraction of gauge pointer and the extraction of scale angle sequence, pointer uses the fitting a straight line of weighted point.
Embodiment two: this embodiment is described further embodiment one, pre-service in the step 2, and the process of obtaining binary image is: referring to Figure 10 to Figure 13.
Step 21, on original image, identify a plurality of rectangle frames as area-of-interest;
Step 22, carry out thresholding, obtain the thresholding original image with the moving window of 2*2;
Step 23, the image of thresholding original images by using Canny operator is carried out profile extract, keep the scale zone profile;
Step 24, utilize the 3*3 template to carry out image corrosion, obtain corrosion thresholding image the thresholding original image,
3*3 template traversal thresholding original image, certain pixel turnover 3*3 zone keep this pixel when containing pixel, otherwise, remove this pixel;
Step 25, in corrosion thresholding image, search connected domain, obtain binary image.
Set unique point to difform scale.Each profile of algorithm traversal, to each profile, in the binary image of respective pixel coordinate through the pixel that detects these unique points exist/do not exist to come tentatively to judge whether to be meter dial, obtain a preliminary image that extracts scale; Corrosion thresholding image is searched the connected domain of image in the preliminary scale image that extracts after the corrosion, removes the image-region that disturbs.
Embodiment three: this embodiment is described further embodiment one or two, and the process in preliminary definite panel board center of circle is in the step 4:
Step 41, said preliminary extraction apparatus dial scale image is carried out Hough circle transformation, extract the circle that meets constraint condition, constraint condition is: circle contains continuous at least 180 ° arc in image;
Step 42, judge whether to exist the circle that meets constraint condition,
Judged result is for being that then execution in step 43; Judged result then reduces the resolution of said preliminary extraction apparatus dial scale image for not, returns execution in step 41 again;
Step 43, be benchmark with the circle of Hough conversion; In binary image, search connected domain, obtain accurate panel board scale image, in to binary image, search connected domain; Obtain only containing accurately the image of scale, this moment, scale needn't extract all.Referring to Figure 15,16 and 17, identification once gets final product, and need not judge whether whether all scales identify.
Step 44, the circle of justifying and containing scale inner edge mid point that contains scale outside mid point in the said accurate panel board scale image is justified match respectively, obtain the radius in the accurate center of circle and the relatively accurate center of circle of meter dial of panel board.
Embodiment four: this embodiment is described further embodiment one, two or three, and the process of setting up scale angle sequence in the step 6 is: referring to Figure 19 to Figure 21.
Step 61, calculate the difference value of each point of polar coordinate system x axle in the pixel that adds up of y axle;
Each difference value peak point on step 62, the extraction x axle;
Step 63, each maximum value and minimizing coordinate mean value obtain the center angle value of each scale as the scale center, and then set up scale angle sequence.
Embodiment five: this embodiment is described further embodiment one, two, three or four, and the process of obtaining the pointer binary image in the step 7 is:
Step 71, under polar coordinate system, calculate the corresponding y value of x direction of principal axis pixel accumulated value maximum of points;
Step 72, with rectangle frame the pointer area-of-interest is set, searches the pointer profile according to the y value of step 71;
The central point of step 73, calculating largest contours;
Step 74, search said central point connected domain, obtain pointer largest contours binary image;
Step 75, with pointer Canny profile in the said pointer largest contours binary picture image subtraction original image, obtain the pointer binary image.
In the original image pointer Canny profile obtain consistent with the process of step 23 statement in the embodiment two.
Embodiment six: this embodiment is described further embodiment one, two, three, four or five; Under polar coordinate system, point to the angle value of y axle in the step 8 according to the pointer binary image of six scale angle sequence obtaining step seven; The True Data of the pointed of output meter dish, completion to the process of the identification of gauge pointer corner is:
Step 81, each puts the average y coordinate figure of corresponding y axle pixel on the x axle to calculate pointer;
Step 82, average y coordinate figure of the corresponding y axle pixel of each point is carried out fitting a straight line by pointer from small to large order on the x axle;
Step 83, according to the straight line of step 82 match, calculate this straight line corresponding angle value under the dial plate polar coordinate system, promptly obtain the pointer binary image points to the y axle under polar coordinate system angle value;
Step 84, search scale angle sequence again, the True Data of the pointed of output meter dish is accomplished the identification to the gauge pointer corner.
Claims (6)
1. based on the gauge pointer corner recognition methods of Flame Image Process, it is characterized in that this method may further comprise the steps:
Step 1, utilize a width of cloth gray level image of industrial camera acquisition instrument, as the original image of instrument;
Step 2, the said original image of step 1 is carried out pre-service, obtains binary image,
Step 3, on said binary image preliminary extraction apparatus dial scale, obtain preliminary extraction apparatus dial scale image;
Step 4, said preliminary extraction apparatus dial scale image is carried out Hough circle transformation, confirm the center of circle of panel board;
Step 5, according to the center of circle of said panel board, the said original image of step 1 is carried out polar coordinate transform, it is image that the utmost point that obtains original image is sat, polar coordinate system x axle is the radius value of pixel apart from the center of circle, polar coordinate system y axle is the angle value of panel board;
Step 6, the angle value scale of the panel board of polar coordinate system y axle statement is analyzed, set up scale angle sequence;
Step 7, search the pointer position of panel board in the polar coordinate system, obtain the pointer binary image;
The pointer binary image of step 8, the scale angle sequence obtaining step seven that obtains according to step 6 points to the angle value of y axle under polar coordinate system, the True Data of the pointed of output meter dish, and completion is to the identification of gauge pointer corner.
2. according to the said gauge pointer corner recognition methods of claim 1, it is characterized in that based on Flame Image Process, pre-service in the step 2, the process of obtaining binary image is:
Step 21, on original image, identify a plurality of rectangle frames as area-of-interest;
Step 22, carry out thresholding, obtain the thresholding original image with the moving window of 2*2;
Step 23, the image of thresholding original images by using Canny operator is carried out profile extract, keep the scale zone profile;
Step 24, utilize the 3*3 template to carry out image corrosion, obtain corrosion thresholding image the thresholding original image,
3*3 template traversal thresholding original image, certain pixel turnover 3*3 zone keep this pixel when containing pixel, otherwise, remove this pixel;
Step 25, in corrosion thresholding image, search connected domain, obtain binary image.
3. according to the said gauge pointer corner recognition methods of claim 2, it is characterized in that the process in preliminary definite panel board center of circle is in the step 4 based on Flame Image Process:
Step 41, said preliminary extraction apparatus dial scale image is carried out Hough circle transformation, extract the circle that meets constraint condition, constraint condition is: circle contains continuous at least 180 ° arc in image;
Step 42, judge whether to exist the circle that meets constraint condition,
Judged result is for being that then execution in step 43; Judged result then reduces the resolution of said preliminary extraction apparatus dial scale image for not, returns execution in step 41 again;
Step 43, be benchmark, in binary image, search connected domain, obtain accurate panel board scale image with the circle of Hough conversion,
Step 44, the circle of justifying and containing scale inner edge mid point that contains scale outside mid point in the said accurate panel board scale image is justified match respectively, obtain the radius in the accurate center of circle and the relatively accurate center of circle of meter dial of panel board.
4. according to the said gauge pointer corner recognition methods of claim 3, it is characterized in that the process of setting up scale angle sequence in the step 6 is based on Flame Image Process:
Step 61, calculate the difference value of each point of polar coordinate system x axle in the pixel that adds up of y axle;
Each difference value peak point on step 62, the extraction x axle;
Step 63, each maximum value and minimizing coordinate mean value obtain the center angle value of each scale as the scale center, and then set up scale angle sequence.
5. according to the said gauge pointer corner recognition methods of claim 4, it is characterized in that the process of obtaining the pointer binary image in the step 7 is based on Flame Image Process:
Step 71, under polar coordinate system, calculate the corresponding y value of x direction of principal axis pixel accumulated value maximum of points;
Step 72, with rectangle frame the pointer area-of-interest is set, searches the pointer profile according to the y value of step 71;
The central point of step 73, calculating largest contours;
Step 74, search said central point connected domain, obtain pointer largest contours binary image;
Step 75, with pointer Canny profile in the said pointer largest contours binary picture image subtraction original image, obtain the pointer binary image.
6. according to the said gauge pointer corner recognition methods of claim 5 based on Flame Image Process; It is characterized in that; Under polar coordinate system, point to the angle value of y axle in the step 8 according to the pointer binary image of six scale angle sequence obtaining step seven; The True Data of the pointed of output meter dish, completion to the process of the identification of gauge pointer corner is:
Step 81, each puts the average y coordinate figure of corresponding y axle pixel on the x axle to calculate pointer;
Step 82, average y coordinate figure of the corresponding y axle pixel of each point is carried out fitting a straight line by pointer from small to large order on the x axle;
Step 83, according to the straight line of step 82 match, calculate this straight line corresponding angle value under the dial plate polar coordinate system, promptly obtain the pointer binary image points to the y axle under polar coordinate system angle value;
Step 84, search scale angle sequence again, the True Data of the pointed of output meter dish is accomplished the identification to the gauge pointer corner.
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